// Aide à deboguer
public static string Draw(Noeud[,] Map)
{
string MapString = "";
for (int j = 0; j < Map.GetLength(1); j++)
{
for (int i = 0; i < Map.GetLength(0); i++)
if (Map[i,j].IsWalkable)
MapString += " ";
else
MapString += "X";
MapString += "\n";
}
MapString += "\n";
return MapString;
}
static List<Noeud> Voisins(Noeud current, Noeud[,] Map, bool enableDiagonales)
{
Noeud noeud = null;
List<Noeud> voisins = new List<Noeud> { };
// TOP
if (current.Position.Y - 1 >= 0 && Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable)
{
noeud = Map[(int)current.Position.X, (int)current.Position.Y - 1];
voisins.Add(noeud);
}
// RIGHT
if (current.Position.X + 1 < Map.GetLength(0) && Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y];
voisins.Add(noeud);
}
// BOT
if (current.Position.Y + 1 < Map.GetLength(1) && Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable)
{
noeud = Map[(int)current.Position.X, (int)current.Position.Y + 1];
voisins.Add(noeud);
}
// LEFT
if (current.Position.X - 1 >= 0 && Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y];
voisins.Add(noeud);
}
// TOP LEFT
if (current.Position.Y - 1 >= 0 && current.Position.X - 1 >= 0
&& Map[(int)current.Position.X - 1, (int)current.Position.Y - 1].IsWalkable
&& Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y - 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// TOP RIGHT
if (current.Position.Y - 1 >= 0 && current.Position.X + 1 < Map.GetLength(0)
&& Map[(int)current.Position.X + 1, (int)current.Position.Y - 1].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable
&& Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y - 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// BOT LEFT
if (current.Position.X - 1 >= 0 && current.Position.Y + 1 < Map.GetLength(1)
&& Map[(int)current.Position.X - 1, (int)current.Position.Y + 1].IsWalkable
&& Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y + 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// BOT RIGHT
if (current.Position.X + 1 < Map.GetLength(0) && current.Position.Y + 1 < Map.GetLength(1)
&& Map[(int)current.Position.X + 1, (int)current.Position.Y + 1].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable
&& Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y + 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
return voisins;
}
